Continuing to experience occasional filesystem errors on the microSD but am able to fumble around them. I can't wait for that to hold me up two minutes before the beginning of a race... that should be fun (read: not fun and very stressful)

High zoot AHRS exhibits similar heading distortions as LSM303DLH but was unable to correct by setting offsets and scale matrices or by using the built in calibration. Very disappointed in AHRS.

AHRS pc client code keeps crashing. Very, very disappointed in AHRS.

Other stuff I'm forgetting

Where the robot thought it was

So, after fixing the nav computation bugs and implementing the accelerometer low pass filter, the robot finally navigated through three waypoints along my street!

Purely with dead reckoning!

Three times in a row!

It wasn't perfect, there's still imprecision in heading due to side angles (far less an issue at the SFE building), but the navigation was repeatable and seemed to be accurate to at least 3 meters across a distance traveled of about 40 meters.

Hopefully, combining position and heading info from both dead reckoning and GPS in some semi-intelligent fashion will improve navigation accuracy to the sub-meter range. We'll see.

3 comments:

Thanks! The robot's made about 9 successful runs out of maybe 15 so far. I'm cautiously optimistic but there's still LOTS to do. And a couple bugs returned, but am doing what I can do put them down for good.